이동 로봇을 위한 무선센서 네트워크 기반의 위치인식과 주행 시스템

Abstract

Location estimation and navigation in the indoor environment are the core technologies in mobile robot systems. Wireless sensor network has great potential in the indoor location estimation due to its characteristics such as low power consumption, low cost, and simplicity. In this thesis we present two algorithms; one is to estimate the indoor location of mobile robot based on wireless sensor network and fuzzy modeling. the other is to navigation the mobile robot in the indoor environment with th acquired location information. Most of Zigbee-based sensor networks use RSSI (Received Signal Strength Indicator) values to measure the distance between two sensor nodes, which are affected by signal distortion, reflection, channel fading, and path loss. Therefore we need a proper correction method to obtain accurate distance information with RSSI values. We implement the fuzzy models of RSSI and an efficient algorithm to estimate the robot location when it navigates in the indoor environment using the proposed navigation algorithm. The experiments show the effectiveness of the localization and navigation algorithms presented in this thesis